흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발 = Development of a wall climbing robot with vacuum caterpillar wheel system

다국어 초록 (Multilingual Abstract)

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. While each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 ㎜ in width and length, respectively, and 200 ㎜ in height. Its mass is slightly over 14 ㎏. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 로봇 기구부의 구조
• 3. 흡착 캐터필러 시스템의 구동원리
• 4. 수직 평면 등반 테스트
• 5. 결론
• 후기
• 참고문헌